# Distributed proportion–integration–derivation formation control for second-order multi-agent systems with communication time delays

> Research article (Neurocomputing, 2017) · cited 25× · AI/ML

**Wikidata**: [openalex:W2623892647](https://www.wikidata.org/wiki/openalex:W2623892647)  
**Source**: https://4ort.xyz/entity/distributed-proportionintegrationderivation-formation-control-for-second-order-multi-agent-systems-with-communication-ti